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<h1>&#x80FD;&#x91CF;&#x673A;&#x5173;&#x9884;&#x6D4B;&#x65B9;&#x6848;</h1>
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<h2 class="mume-header" id="%E4%B8%80-%E4%B8%BA%E4%BB%80%E4%B9%88%E4%B8%8D%E4%BD%BF%E7%94%A8%E9%80%9F%E5%BA%A6%E4%BD%9C%E4%B8%BA%E8%A7%82%E6%B5%8B%E5%80%BC%E8%BF%9B%E8%A1%8C%E9%A2%84%E6%B5%8B">&#x4E00;&#x3001;&#x4E3A;&#x4EC0;&#x4E48;&#x4E0D;&#x4F7F;&#x7528;&#x901F;&#x5EA6;&#x4F5C;&#x4E3A;&#x89C2;&#x6D4B;&#x503C;&#x8FDB;&#x884C;&#x9884;&#x6D4B;</h2>

<ul>
<li>&#x80FD;&#x91CF;&#x673A;&#x5173;&#x76F4;&#x63A5;&#x7684;&#x89C2;&#x6D4B;&#x503C;&#x4E3A;&#x4F4D;&#x7F6E;&#xFF0C;&#x8981;&#x5F97;&#x5230;&#x901F;&#x5EA6;&#x9700;&#x8981;&#x4F7F;&#x7528;&#x516C;&#x5F0F; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>v</mi><mo>=</mo><mfrac><mi>s</mi><mi>t</mi></mfrac></mrow><annotation encoding="application/x-tex">v=\frac{s}{t}</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.4306em;"></span><span class="mord mathnormal" style="margin-right:0.03588em;">v</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mrel">=</span><span class="mspace" style="margin-right:0.2778em;"></span></span><span class="base"><span class="strut" style="height:1.0404em;vertical-align:-0.345em;"></span><span class="mord"><span class="mopen nulldelimiter"></span><span class="mfrac"><span class="vlist-t vlist-t2"><span class="vlist-r"><span class="vlist" style="height:0.6954em;"><span style="top:-2.655em;"><span class="pstrut" style="height:3em;"></span><span class="sizing reset-size6 size3 mtight"><span class="mord mtight"><span class="mord mathnormal mtight">t</span></span></span></span><span style="top:-3.23em;"><span class="pstrut" style="height:3em;"></span><span class="frac-line" style="border-bottom-width:0.04em;"></span></span><span style="top:-3.394em;"><span class="pstrut" style="height:3em;"></span><span class="sizing reset-size6 size3 mtight"><span class="mord mtight"><span class="mord mathnormal mtight">s</span></span></span></span></span><span class="vlist-s">&#x200B;</span></span><span class="vlist-r"><span class="vlist" style="height:0.345em;"><span></span></span></span></span></span><span class="mclose nulldelimiter"></span></span></span></span></span>&#x3002;&#x8FD9;&#x91CC;&#x7684; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>t</mi></mrow><annotation encoding="application/x-tex">t</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.6151em;"></span><span class="mord mathnormal">t</span></span></span></span> &#x901A;&#x5E38;&#x4E3A; 0.01s &#x7684;&#x6570;&#x91CF;&#x7EA7;&#xFF0C;&#x4F7F;&#x5F97; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>s</mi></mrow><annotation encoding="application/x-tex">s</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.4306em;"></span><span class="mord mathnormal">s</span></span></span></span> &#x89C2;&#x6D4B;&#x7684;&#x4E00;&#x5C0F;&#x4E9B;&#x8BEF;&#x5DEE;&#xFF0C;&#x9664;&#x4EE5;&#x4E00;&#x4E2A;&#x5982;&#x6B64;&#x5C0F;&#x7684;&#x6570;&#xFF0C;&#x4F1A;&#x88AB;&#x65E0;&#x9650;&#x653E;&#x5927;&#xFF0C;&#x6EE4;&#x6CE2;&#x90FD;&#x6EE4;&#x4E0D;&#x6389;&#x3002;&#x5982;&#x4E0B;&#x56FE;&#xFF08;&#x6EE4;&#x6CE2;&#x540E;&#x7684;&#x901F;&#x5EA6;&#x66F2;&#x7EBF;&#xFF09;&#xFF1A;</li>
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<center>
<img src="../assets/solve_rune/data_speed.png" alt="&#x6EE4;&#x6CE2;&#x540E;&#x7684;&#x901F;&#x5EA6;&#x503C;&#x66F2;&#x7EBF;&#xFF08;&#x5DE5;&#x4F5C;&#x7AD9;&#x4E0A;&#x627E;&#xFF09;" width="70%">
</center>
<ul>
<li>&#x5728;&#x6D4B;&#x901F;&#x65F6;&#xFF0C;&#x9700;&#x8981;&#x8FDE;&#x7EED;&#x89C2;&#x6D4B; 5 &#x5E27;&#x751A;&#x81F3; 10 &#x5E27;&#x4EE5;&#x4E0A;&#x7684;&#x4F4D;&#x7F6E;&#x4FE1;&#x606F;&#x624D;&#x80FD;&#x5F97;&#x51FA;&#x8F83;&#x4E3A;&#x51C6;&#x786E;&#x7684;&#x7ED3;&#x679C;&#xFF0C;&#x8FD9;&#x5C31;&#x5BFC;&#x81F4;&#x4E86;&#x9884;&#x6D4B;&#x7CFB;&#x7EDF;&#x66F4;&#x65B0;&#x7F13;&#x6162;&#xFF0C;&#x9884;&#x6D4B;&#x7ED3;&#x679C;&#x4E0D;&#x51C6;&#x786E;&#x3002;&#xFF08;&#x53C2;&#x8003;&#x4E00;&#x5F00;&#x59CB;&#x7684;&#x5C0F;&#x7B26;&#x65B9;&#x6848;&#xFF0C;&#x5EF6;&#x7528;&#x7684;22&#x8D5B;&#x5B63;&#x7684;&#x65B9;&#x6848;&#xFF0C;&#x6253;&#x5F97;&#x8FD8;&#x6CA1;&#x5927;&#x7B26;&#x51C6;&#x3002;&#xFF09;</li>
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<h2 class="mume-header" id="%E4%BA%8C-%E4%BD%BF%E7%94%A8%E4%BD%8D%E7%BD%AE%E4%BD%9C%E4%B8%BA%E8%A7%82%E6%B5%8B%E5%80%BC%E9%9C%80%E8%A6%81%E6%B3%A8%E6%84%8F%E5%B9%B6%E8%A7%A3%E5%86%B3%E7%9A%84%E5%87%A0%E4%B8%AA%E9%97%AE%E9%A2%98">&#x4E8C;&#x3001;&#x4F7F;&#x7528;&#x4F4D;&#x7F6E;&#x4F5C;&#x4E3A;&#x89C2;&#x6D4B;&#x503C;&#x9700;&#x8981;&#x6CE8;&#x610F;&#x5E76;&#x89E3;&#x51B3;&#x7684;&#x51E0;&#x4E2A;&#x95EE;&#x9898;</h2>

<h3 class="mume-header" id="1-%E4%BD%8D%E7%BD%AE%E7%9A%84%E6%8F%8F%E8%BF%B0">1. &#x4F4D;&#x7F6E;&#x7684;&#x63CF;&#x8FF0;</h3>

<p>&#x5F15;&#x5165;&#x5173;&#x952E;&#x89D2;&#x5EA6;&#x548C;&#x8BA1;&#x5708;&#x673A;&#x5236;&#xFF0C;&#x7C7B;&#x4F3C;&#x4E8E;&#x7535;&#x63A7;&#x63CF;&#x8FF0;&#x7535;&#x673A;&#x4F4D;&#x7F6E;&#x7684;&#x65B9;&#x5F0F;</p>
<p><strong>&#x5173;&#x952E;&#x89D2;&#x5EA6;&#x7684;&#x5B9A;&#x4E49;</strong>&#xFF1A;&#x7A0B;&#x5E8F;&#x521D;&#x59CB;&#x5316;&#x540E;&#x88AB;&#x9996;&#x6B21;&#x8BC6;&#x522B;&#x5230;&#x7684;&#x6247;&#x53F6;&#x7684;&#x89D2;&#x5EA6;&#xFF0C;&#x5BF9;&#x5E94;&#x7684;&#x8BE5;&#x6247;&#x53F6;&#x79F0;&#x4E4B;&#x4E3A;&#x5173;&#x952E;&#x6247;&#x53F6;&#x3002;<br>
<strong>&#x5708;&#x6570;&#x7684;&#x5B9A;&#x4E49;</strong>&#xFF1A;&#x5173;&#x952E;&#x6247;&#x53F6;&#x8D8A;&#x8FC7;&#x8DF3;&#x53D8;&#x70B9;&#x7684;&#x6B21;&#x6570;&#xFF0C;&#x6709;&#x65B9;&#x5411;&#x4E4B;&#x5206;&#x3002;&#x82E5;&#x9006;&#x65F6;&#x9488;&#x65CB;&#x8F6C;&#x8D8A;&#x8FC7;&#x8DF3;&#x53D8;&#x70B9;&#xFF0C;&#x5219;&#x5708;&#x6570;+1&#xFF1B;&#x82E5;&#x987A;&#x65F6;&#x9488;&#x8D8A;&#x8FC7;&#x8DF3;&#x53D8;&#x70B9;&#xFF0C;&#x5219;&#x5708;&#x6570;-1</p>
<h3 class="mume-header" id="2-%E6%89%87%E5%8F%B6%E5%88%87%E6%8D%A2%E7%9A%84%E6%83%85%E5%86%B5">2. &#x6247;&#x53F6;&#x5207;&#x6362;&#x7684;&#x60C5;&#x51B5;</h3>

<p>&#x5F15;&#x5165;offset</p>
<p>&#x5728;&#x53D1;&#x751F;&#x5207;&#x6362;&#x65F6;&#xFF0C;&#x901A;&#x8FC7;&#x66F4;&#x65B0; offset &#x7684;&#x503C;&#x6765;&#x63CF;&#x8FF0;&#x5F53;&#x524D;&#x6247;&#x53F6;&#x548C;&#x5173;&#x952E;&#x6247;&#x53F6;&#x4E4B;&#x95F4;&#x7684;&#x504F;&#x79FB;&#x3002;&#x5173;&#x4E8E; offset &#x7684;&#x5B9A;&#x4E49;&#x548C;&#x8BA1;&#x7B97;&#x5728;&#x540E;&#x7EED;&#x5177;&#x4F53;&#x6B65;&#x9AA4;&#x4E2D;&#x4F1A;&#x6709;&#x8BB2;&#x89E3;&#x3002;</p>
<h3 class="mume-header" id="3-%E8%B6%8A%E8%BF%87%E8%B7%B3%E5%8F%98%E7%82%B9%E6%97%B6%E7%9A%84%E6%83%85%E5%86%B5">3. &#x8D8A;&#x8FC7;&#x8DF3;&#x53D8;&#x70B9;&#x65F6;&#x7684;&#x60C5;&#x51B5;</h3>

<p>&#x5F15;&#x5165;circle&#xFF0C;&#x5373;&#x8BA1;&#x5708;&#x673A;&#x5236;&#x3002;&#x5177;&#x4F53;&#x64CD;&#x4F5C;&#x5728;&#x540E;&#x7EED;&#x6B65;&#x9AA4;&#x4ECB;&#x7ECD;&#x4E2D;&#x4F1A;&#x8BE6;&#x7EC6;&#x8BB2;&#x89E3;&#x3002;</p>
<h2 class="mume-header" id="%E4%B8%89-%E5%85%B7%E4%BD%93%E6%89%A7%E8%A1%8C%E6%AD%A5%E9%AA%A4">&#x4E09;&#x3001;&#x5177;&#x4F53;&#x6267;&#x884C;&#x6B65;&#x9AA4;</h2>

<h3 class="mume-header" id="0%E5%88%9D%E5%A7%8B%E5%8C%96">0.&#x521D;&#x59CB;&#x5316;</h3>

<p>&#x521D;&#x59CB;&#x5316;&#x9700;&#x8981;&#x505A;&#x4EE5;&#x4E0B;&#x51E0;&#x4EF6;&#x4E8B;&#xFF1A;</p>
<ul>
<li>&#x6E05;&#x7A7A;&#x901F;&#x5EA6;&#x548C;&#x65F6;&#x95F4;&#x5BB9;&#x5668;</li>
<li>&#x521D;&#x59CB;&#x5316; PF &#x6EE4;&#x6CE2;&#x5668;</li>
<li>&#x91CD;&#x7F6E;&#x5708;&#x8BA1;&#x6570; circle &#x548C;&#x504F;&#x79FB; offset</li>
<li>&#x91CD;&#x7F6E;&#x7A0B;&#x5E8F;&#x8FD0;&#x884C;&#x65F6;&#x95F4;</li>
</ul>
<p>&#x5728;&#x4F55;&#x65F6;&#x9700;&#x8981;&#x8FDB;&#x884C;&#x521D;&#x59CB;&#x5316;&#xFF1F;</p>
<ul>
<li>&#x5F53;&#x4E24;&#x6B21;&#x6536;&#x5230;&#x7684;&#x6765;&#x81EA;&#x8BC6;&#x522B;&#x7684;&#x6D88;&#x606F;&#x7684; isLost &#x6807;&#x5FD7;&#x4E3A; true &#x7684;&#x95F4;&#x9694;&#x5927;&#x4E8E; 0.4s &#x65F6;&#x6267;&#x884C;&#x521D;&#x59CB;&#x5316;&#xFF08;&#x9996;&#x6B21;&#x8FDB;&#x5165;&#x65F6;&#x5305;&#x62EC;&#x6B64;&#x72B6;&#x6001;&#xFF09;</li>
</ul>
<h3 class="mume-header" id="1-%E6%A0%B9%E6%8D%AE%E6%8E%A5%E6%94%B6%E5%88%B0%E7%9A%845%E7%82%B9%E4%BF%A1%E6%81%AF%E8%AE%A1%E7%AE%97%E5%BD%93%E5%89%8D%E7%9A%84%E8%A7%92%E5%BA%A6%E5%80%BC">1. &#x6839;&#x636E;&#x63A5;&#x6536;&#x5230;&#x7684;5&#x70B9;&#x4FE1;&#x606F;&#xFF0C;&#x8BA1;&#x7B97;&#x5F53;&#x524D;&#x7684;&#x89D2;&#x5EA6;&#x503C;</h3>

<p>&#x6765;&#x81EA;&#x8BC6;&#x522B;&#x8282;&#x70B9;&#x7684; 5 &#x4E2A;&#x70B9;&#x5206;&#x522B;&#x662F; R &#x6807;&#x4E2D;&#x5FC3;&#x70B9;&#x548C;&#x5F85;&#x51FB;&#x6253;&#x88C5;&#x7532;&#x677F;&#x7684; 4 &#x4E2A;&#x89D2;&#x70B9;&#x3002;&#x901A;&#x8FC7; 4 &#x4E2A;&#x89D2;&#x70B9;&#x786E;&#x5B9A;&#x5F85;&#x51FB;&#x6253;&#x88C5;&#x7532;&#x677F;&#x7684;&#x4E2D;&#x5FC3;&#xFF0C;&#x5E76;&#x548C; R &#x6807;&#x4E2D;&#x5FC3;&#x8FDE;&#x7EBF;&#xFF0C;&#x5229;&#x7528;&#x53CD;&#x6B63;&#x5207;&#x51FD;&#x6570;&#x8BA1;&#x7B97;&#x89D2;&#x5EA6;&#x3002;</p>
<center>
<img src="../assets/solve_rune/offset0.png" alt="&#x8BC6;&#x522B;&#x6548;&#x679C;&#xFF08;&#x4E00;&#x7247;&#x6247;&#x53F6;&#x5373;&#x53EF;&#xFF09;" width="70%">
</center>
<p>&#x89D2;&#x5EA6;&#x53D6;&#x503C;&#x8303;&#x56F4; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mo stretchy="false">[</mo><mo>&#x2212;</mo><mi>&#x3C0;</mi><mo separator="true">,</mo><mi>&#x3C0;</mi><mo stretchy="false">]</mo></mrow><annotation encoding="application/x-tex">[-\pi,\pi]</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:1em;vertical-align:-0.25em;"></span><span class="mopen">[</span><span class="mord">&#x2212;</span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span><span class="mpunct">,</span><span class="mspace" style="margin-right:0.1667em;"></span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span><span class="mclose">]</span></span></span></span>&#xFF0C;&#x89D2;&#x5EA6;&#x7684;&#x5B9A;&#x4E49;&#x4E0E;&#x6781;&#x5750;&#x6807;&#x76F8;&#x540C;&#xFF0C;&#x5373;&#x8FC7;&#x539F;&#x70B9;&#x6C34;&#x5E73;&#x5411;&#x53F3;&#x4E3A; 0 &#x5EA6;&#xFF0C;&#x9006;&#x65F6;&#x9488;&#x4E3A;&#x6B63;&#x65B9;&#x5411;&#x3002;</p>
<p>&#x8FD9;&#x91CC;&#x6709;&#x4E00;&#x4E2A;&#x7A81;&#x53D8;&#x70B9;&#x95EE;&#x9898;&#xFF0C;&#x5373;&#x8FC7;&#x539F;&#x70B9;&#x6C34;&#x5E73;&#x5411;&#x5DE6;&#x7684;&#x7EBF;&#xFF0C;&#x5728;&#x8BE5;&#x7EBF;&#x4E0A;&#x65B9;&#x89D2;&#x5EA6;&#x4E3A; 180&#xB0;&#xFF0C;&#x5728;&#x8BE5;&#x7EBF;&#x4E0B;&#x65B9;&#x89D2;&#x5EA6;&#x4E3A; -180&#xB0;&#x3002;&#x867D;&#x7136;&#x5728;&#x51E0;&#x4F55;&#x4E0A;&#x662F;&#x8FDE;&#x7EED;&#x7684;&#xFF0C;&#x4F46;&#x662F;&#x5728;&#x6570;&#x503C;&#x4E0A;&#x4F1A;&#x6709; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mn>2</mn><mi>&#x3C0;</mi></mrow><annotation encoding="application/x-tex">2\pi</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.6444em;"></span><span class="mord">2</span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span></span></span></span> &#x7684;&#x5DEE;&#x8DDD;&#x3002;&#x8BE5;&#x95EE;&#x9898;&#x5C06;&#x5728;&#x540E;&#x7EED;&#x7684;&#x5177;&#x4F53;&#x6B65;&#x9AA4;&#x4E2D;&#x8FDB;&#x884C;&#x5904;&#x7406;&#x3002;</p>
<h3 class="mume-header" id="2-%E5%88%A4%E6%96%AD%E6%89%87%E5%8F%B6%E6%98%AF%E5%90%A6%E5%8F%91%E7%94%9F%E5%88%87%E6%8D%A2">2. &#x5224;&#x65AD;&#x6247;&#x53F6;&#x662F;&#x5426;&#x53D1;&#x751F;&#x5207;&#x6362;</h3>

<p>&#x901A;&#x8FC7;&#x8BA1;&#x7B97;&#x5F53;&#x524D;&#x89D2;&#x5EA6;&#x4E0E;&#x4E0A;&#x4E00;&#x65F6;&#x523B;&#x89D2;&#x5EA6;&#x7684;&#x5DEE;&#x503C;&#xFF0C;&#x82E5;&#x5DEE;&#x503C;&#x5927;&#x4E8E; 0.8 &#x5F27;&#x5EA6;&#x4E14;&#x5C0F;&#x4E8E; 5.65 &#x5F27;&#x5EA6;&#xFF0C;&#x5219;&#x8868;&#x793A;&#x6247;&#x53F6;&#x53D1;&#x751F;&#x4E86;&#x5207;&#x6362;&#x3002;</p>
<blockquote>
<p>0.8 &#x7684;&#x7531;&#x6765;&#xFF1A;&#x5047;&#x8BBE;&#x7B26;&#x4EE5;&#x6700;&#x5FEB;&#x7684;&#x901F;&#x5EA6;&#x65CB;&#x8F6C;&#xFF0C;&#x5373; 2.09rad/s &#xFF0C;&#x4E14;&#x5047;&#x8BBE;&#x5904;&#x7406;&#x901F;&#x5EA6;&#x4E3A; 100ms&#xFF08;&#x5F88;&#x6162;&#x7684;&#x4E86;&#xFF09;&#xFF0C;&#x90A3;&#x4E48;&#x5728;&#x8FD9;&#x6BB5;&#x65F6;&#x95F4;&#x7B26;&#x8F6C;&#x8FC7;&#x7684;&#x5F27;&#x5EA6;&#x4E3A; 2.09*0.1 = 0.209 rad&#x3002;<br>
&#x5047;&#x8BBE;&#x5207;&#x6362;&#x53D1;&#x751F;&#x5728;&#x4E24;&#x4E2A;&#x76F8;&#x90BB;&#x7684;&#x6247;&#x53F6;&#x4E0A;&#xFF0C;&#x5373;&#x5207;&#x6362;&#x9020;&#x6210;&#x7684;&#x76F8;&#x4F4D;&#x5DEE;&#x4E3A; 2pi/5 = 1.2566 rad<br>
&#x518D;&#x8003;&#x8651;&#x5230; 100ms &#x5185;&#x53D1;&#x751F;&#x7684;&#x65CB;&#x8F6C;&#xFF0C;&#x90A3;&#x4E48;&#x6247;&#x53F6;&#x5207;&#x6362;&#x540E;&#x6700;&#x5C0F;&#x7684;&#x76F8;&#x4F4D;&#x5DEE;&#x4E3A; 1.2566-0.209 = 1.0476 rad<br>
&#x56E0;&#x6B64;&#xFF0C;&#x8FD9;&#x4E2A;&#x503C;&#x53EA;&#x8981;&#x53D6;&#x5728; [0.209&#xFF0C;1.048] &#x4E4B;&#x95F4;&#x5373;&#x53EF;&#x3002;&#x53E6;&#x5916;&#xFF0C;&#x8003;&#x8651;&#x5230;&#x6389;&#x5E27;&#x7684;&#x95EE;&#x9898;&#xFF0C;&#x8BE5;&#x503C;&#x8D8A;&#x5927;&#x53EF;&#x4EE5;&#x5BB9;&#x7EB3;&#x66F4;&#x591A;&#x7684;&#x6389;&#x5E27;&#x6B21;&#x6570;&#xFF0C;&#x56E0;&#x6B64;&#x5C06;&#x8BE5;&#x503C;&#x53D6;&#x4E3A; 0.8&#x3002;<br>
5.65&#xFF08;<span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mn>1.8</mn><mi>&#x3C0;</mi></mrow><annotation encoding="application/x-tex">1.8\pi</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.6444em;"></span><span class="mord">1.8</span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span></span></span></span>&#xFF09;: &#x9632;&#x6B62;&#x8D8A;&#x8FC7;&#x7A81;&#x53D8;&#x70B9;&#x65F6;&#x88AB;&#x8BA4;&#x4E3A;&#x662F;&#x6247;&#x53F6;&#x53D1;&#x751F;&#x4E86;&#x5207;&#x6362;</p>
</blockquote>
<p>&#x66F4;&#x65B0; offset &#x7684;&#x503C;&#xFF0C;&#x5E76;&#x7EF4;&#x62A4; offset &#x503C;&#x5728; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mo stretchy="false">[</mo><mn>0</mn><mo separator="true">,</mo><mn>4</mn><mo stretchy="false">]</mo></mrow><annotation encoding="application/x-tex">[0,4]</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:1em;vertical-align:-0.25em;"></span><span class="mopen">[</span><span class="mord">0</span><span class="mpunct">,</span><span class="mspace" style="margin-right:0.1667em;"></span><span class="mord">4</span><span class="mclose">]</span></span></span></span> &#x4E4B;&#x95F4;&#x3002;</p>
<p>offset &#x503C;&#x7684;&#x8BA1;&#x7B97;&#x65B9;&#x5F0F;&#x5982;&#x4E0B;&#xFF1A;</p>
<p><span class="katex-display"><span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML" display="block"><semantics><mrow><mi>o</mi><mi>f</mi><mi>f</mi><mi>s</mi><mi>e</mi><mi>t</mi><mo>=</mo><mi>o</mi><mi>f</mi><mi>f</mi><mi>s</mi><mi>e</mi><mi>t</mi><mo>+</mo><mi>r</mi><mi>o</mi><mi>u</mi><mi>n</mi><mi>d</mi><mo stretchy="false">(</mo><mo stretchy="false">(</mo><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi><mo>&#x2212;</mo><mi>l</mi><mi>a</mi><mi>s</mi><mi>t</mi><mi mathvariant="normal">_</mi><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi><mo stretchy="false">)</mo><mi mathvariant="normal">/</mi><mn>0.4</mn><mi>&#x3C0;</mi><mo stretchy="false">)</mo></mrow><annotation encoding="application/x-tex">offset = offset+round((angle-last\_angle)/0.4\pi)</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.8889em;vertical-align:-0.1944em;"></span><span class="mord mathnormal">o</span><span class="mord mathnormal" style="margin-right:0.10764em;">ff</span><span class="mord mathnormal">se</span><span class="mord mathnormal">t</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mrel">=</span><span class="mspace" style="margin-right:0.2778em;"></span></span><span class="base"><span class="strut" style="height:0.8889em;vertical-align:-0.1944em;"></span><span class="mord mathnormal">o</span><span class="mord mathnormal" style="margin-right:0.10764em;">ff</span><span class="mord mathnormal">se</span><span class="mord mathnormal">t</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">+</span><span class="mspace" style="margin-right:0.2222em;"></span></span><span class="base"><span class="strut" style="height:1em;vertical-align:-0.25em;"></span><span class="mord mathnormal">ro</span><span class="mord mathnormal">u</span><span class="mord mathnormal">n</span><span class="mord mathnormal">d</span><span class="mopen">((</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">&#x2212;</span><span class="mspace" style="margin-right:0.2222em;"></span></span><span class="base"><span class="strut" style="height:1.06em;vertical-align:-0.31em;"></span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">a</span><span class="mord mathnormal">s</span><span class="mord mathnormal">t</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mclose">)</span><span class="mord">/0.4</span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span><span class="mclose">)</span></span></span></span></span></p>
<p>&#x5176;&#x4E2D; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>r</mi><mi>o</mi><mi>u</mi><mi>n</mi><mi>d</mi><mo stretchy="false">(</mo><mo>&#x22C5;</mo><mo stretchy="false">)</mo></mrow><annotation encoding="application/x-tex">round(\cdot)</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:1em;vertical-align:-0.25em;"></span><span class="mord mathnormal">ro</span><span class="mord mathnormal">u</span><span class="mord mathnormal">n</span><span class="mord mathnormal">d</span><span class="mopen">(</span><span class="mord">&#x22C5;</span><span class="mclose">)</span></span></span></span> &#x8868;&#x793A;&#x56DB;&#x820D;&#x4E94;&#x5165;&#x53D6;&#x6574;&#xFF0C;<span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mn>0.4</mn><mi>&#x3C0;</mi></mrow><annotation encoding="application/x-tex">0.4\pi</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.6444em;"></span><span class="mord">0.4</span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span></span></span></span> &#x662F;&#x4E24;&#x4E2A;&#x76F8;&#x90BB;&#x6247;&#x53F6;&#x4E4B;&#x95F4;&#x7684;&#x89D2;&#x5EA6;&#x5DEE;</p>
<p>offset &#x7EF4;&#x62A4;&#x4F2A; C &#x4EE3;&#x7801;&#xFF1A;</p>
<pre data-role="codeBlock" data-info="cpp" class="language-cpp"><span class="token comment">//&#x4E00;&#x5171;&#x6709; 5 &#x4E2A;&#x6247;&#x53F6;&#xFF0C;&#x52A0;&#x4E0A; 5 &#x6216;&#x8005;&#x51CF;&#x53BB; 5 &#x6240;&#x5BF9;&#x5E94;&#x7684;&#x4F4D;&#x7F6E;&#x662F;&#x4E00;&#x6837;&#x7684;</span>
<span class="token keyword keyword-if">if</span><span class="token punctuation">(</span>offset<span class="token operator">&gt;</span><span class="token number">4</span><span class="token punctuation">)</span> offset <span class="token operator">-=</span> <span class="token number">5</span><span class="token punctuation">;</span> 
<span class="token keyword keyword-else">else</span> <span class="token keyword keyword-if">if</span><span class="token punctuation">(</span>offset<span class="token operator">&lt;</span><span class="token number">0</span><span class="token punctuation">)</span> offset <span class="token operator">+=</span> <span class="token number">5</span><span class="token punctuation">;</span>
</pre><center>
<img src="../assets/solve_rune/offset0.png" width="30%">
<img src="../assets/solve_rune/offset1.png" width="30%">
<img src="../assets/solve_rune/offset2.png" width="30%">
<img src="../assets/solve_rune/offset3.png" width="30%">
<img src="../assets/solve_rune/offset4.png" width="30%">
<p>&#x4ECE;&#x4E0A;&#x5230;&#x4E0B;&#xFF0C;&#x4ECE;&#x5DE6;&#x81F3;&#x53F3;&#x4F9D;&#x6B21;&#x4E3A; offset &#x7B49;&#x4E8E; 0 &#x5230;&#x7B49;&#x4E8E; 4 &#x7684;&#x60C5;&#x51B5;</p>
</center>
<h3 class="mume-header" id="3-%E8%AE%A1%E7%AE%97%E5%85%B3%E9%94%AE%E8%A7%92%E5%BA%A6">3. &#x8BA1;&#x7B97;&#x5173;&#x952E;&#x89D2;&#x5EA6;</h3>

<p>&#x5173;&#x952E;&#x89D2;&#x5EA6;&#x53EF;&#x4EE5;&#x5229;&#x7528;&#x89C2;&#x6D4B;&#x89D2;&#x5EA6; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi></mrow><annotation encoding="application/x-tex">angle</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.8889em;vertical-align:-0.1944em;"></span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span></span></span></span> &#x548C;&#x504F;&#x79FB;&#x91CF; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>o</mi><mi>f</mi><mi>f</mi><mi>s</mi><mi>e</mi><mi>t</mi></mrow><annotation encoding="application/x-tex">offset</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.8889em;vertical-align:-0.1944em;"></span><span class="mord mathnormal">o</span><span class="mord mathnormal" style="margin-right:0.10764em;">ff</span><span class="mord mathnormal">se</span><span class="mord mathnormal">t</span></span></span></span> &#x8BA1;&#x7B97;&#x5F97;&#x5230;&#x3002;&#x8BA1;&#x7B97;&#x65B9;&#x5F0F;&#x5982;&#x4E0B;&#xFF1A;</p>
<p><span class="katex-display"><span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML" display="block"><semantics><mrow><mi>k</mi><mi>e</mi><mi>y</mi><mi mathvariant="normal">_</mi><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi><mo>=</mo><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi><mo>+</mo><mn>0.4</mn><mi>&#x3C0;</mi><mo>&#x2217;</mo><mi>o</mi><mi>f</mi><mi>f</mi><mi>s</mi><mi>e</mi><mi>t</mi></mrow><annotation encoding="application/x-tex">key\_angle = angle + 0.4\pi*offset</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:1.0044em;vertical-align:-0.31em;"></span><span class="mord mathnormal" style="margin-right:0.03148em;">k</span><span class="mord mathnormal" style="margin-right:0.03588em;">ey</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mrel">=</span><span class="mspace" style="margin-right:0.2778em;"></span></span><span class="base"><span class="strut" style="height:0.8889em;vertical-align:-0.1944em;"></span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">+</span><span class="mspace" style="margin-right:0.2222em;"></span></span><span class="base"><span class="strut" style="height:0.6444em;"></span><span class="mord">0.4</span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">&#x2217;</span><span class="mspace" style="margin-right:0.2222em;"></span></span><span class="base"><span class="strut" style="height:0.8889em;vertical-align:-0.1944em;"></span><span class="mord mathnormal">o</span><span class="mord mathnormal" style="margin-right:0.10764em;">ff</span><span class="mord mathnormal">se</span><span class="mord mathnormal">t</span></span></span></span></span></p>
<p>&#x540C;&#x65F6;&#x7EF4;&#x62A4;&#x5173;&#x952E;&#x89D2;&#x5EA6;&#x7684;&#x503C;&#xFF0C;&#x4F7F;&#x5176;&#x843D;&#x5728; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mo stretchy="false">[</mo><mo>&#x2212;</mo><mi>&#x3C0;</mi><mo separator="true">,</mo><mi>&#x3C0;</mi><mo stretchy="false">]</mo></mrow><annotation encoding="application/x-tex">[-\pi,\pi]</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:1em;vertical-align:-0.25em;"></span><span class="mopen">[</span><span class="mord">&#x2212;</span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span><span class="mpunct">,</span><span class="mspace" style="margin-right:0.1667em;"></span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span><span class="mclose">]</span></span></span></span> &#x7684;&#x533A;&#x95F4;&#x5185;&#xFF1A;</p>
<pre data-role="codeBlock" data-info="cpp" class="language-cpp"><span class="token comment">//&#x4E00;&#x5708;&#x4E3A; 2pi &#xFF0C;&#x52A0;&#x4E0A;&#x4E00;&#x5708;&#x548C;&#x51CF;&#x53BB;&#x4E00;&#x5708;&#x6240;&#x63CF;&#x8FF0;&#x7684;&#x4F4D;&#x7F6E;&#x662F;&#x4E00;&#x6837;&#x7684;</span>
<span class="token keyword keyword-if">if</span><span class="token punctuation">(</span>key_angle<span class="token operator">&lt;</span><span class="token operator">-</span>pi<span class="token punctuation">)</span> key_angle <span class="token operator">+=</span> <span class="token number">2</span>pi<span class="token punctuation">;</span>
<span class="token keyword keyword-else">else</span> <span class="token keyword keyword-if">if</span><span class="token punctuation">(</span>key_angle<span class="token operator">&gt;</span>pi<span class="token punctuation">)</span> key_angle <span class="token operator">-=</span> <span class="token number">2</span>pi<span class="token punctuation">;</span>
</pre><h3 class="mume-header" id="4-%E6%A0%B9%E6%8D%AE%E5%85%B3%E9%94%AE%E8%A7%92%E5%BA%A6%E5%88%A4%E6%96%AD%E6%98%AF%E5%90%A6%E5%8F%91%E7%94%9F%E8%B7%B3%E5%8F%98%E5%B9%B6%E5%A4%84%E7%90%86">4. &#x6839;&#x636E;&#x5173;&#x952E;&#x89D2;&#x5EA6;&#x5224;&#x65AD;&#x662F;&#x5426;&#x53D1;&#x751F;&#x8DF3;&#x53D8;&#x5E76;&#x5904;&#x7406;</h3>

<p>&#x7EF4;&#x62A4;&#x5173;&#x952E;&#x89D2;&#x5EA6;&#xFF0C;&#x4F7F;&#x5176;&#x4FDD;&#x6301;&#x5728; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mo stretchy="false">[</mo><mo>&#x2212;</mo><mi>&#x3C0;</mi><mo separator="true">,</mo><mi>&#x3C0;</mi><mo stretchy="false">]</mo></mrow><annotation encoding="application/x-tex">[-\pi,\pi]</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:1em;vertical-align:-0.25em;"></span><span class="mopen">[</span><span class="mord">&#x2212;</span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span><span class="mpunct">,</span><span class="mspace" style="margin-right:0.1667em;"></span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span><span class="mclose">]</span></span></span></span> &#xFF0C;&#x66F4;&#x65B0;&#x5E76;&#x7EF4;&#x62A4; circle &#x53D8;&#x91CF;</p>
<p><span class="katex-display"><span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML" display="block"><semantics><mrow><mo fence="true">{</mo><mtable rowspacing="0.16em" columnalign="center" columnspacing="1em"><mtr><mtd><mstyle scriptlevel="0" displaystyle="false"><mrow><mi>k</mi><mi>e</mi><mi>y</mi><mi mathvariant="normal">_</mi><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi><mo>=</mo><mi>k</mi><mi>e</mi><mi>y</mi><mi mathvariant="normal">_</mi><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi><mo>+</mo><mn>2</mn><mi>&#x3C0;</mi><mspace width="2em"></mspace><mo stretchy="false">(</mo><mtext>&#x82E5;</mtext><mi>k</mi><mi>e</mi><mi>y</mi><mi mathvariant="normal">_</mi><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi><mo>&lt;</mo><mo>&#x2212;</mo><mi>&#x3C0;</mi><mo stretchy="false">)</mo></mrow></mstyle></mtd></mtr><mtr><mtd><mstyle scriptlevel="0" displaystyle="false"><mrow></mrow></mstyle></mtd></mtr><mtr><mtd><mstyle scriptlevel="0" displaystyle="false"><mrow><mi>k</mi><mi>e</mi><mi>y</mi><mi mathvariant="normal">_</mi><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi><mo>=</mo><mi>k</mi><mi>e</mi><mi>y</mi><mi mathvariant="normal">_</mi><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi><mo>&#x2212;</mo><mn>2</mn><mi>&#x3C0;</mi><mspace width="2em"></mspace><mo stretchy="false">(</mo><mtext>&#x82E5;</mtext><mi>k</mi><mi>e</mi><mi>y</mi><mi mathvariant="normal">_</mi><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi><mo>&gt;</mo><mi>&#x3C0;</mi><mo stretchy="false">)</mo></mrow></mstyle></mtd></mtr></mtable></mrow><annotation encoding="application/x-tex">\left\{
\begin{matrix}
    key\_angle = key\_angle+2\pi \qquad (&#x82E5; key\_angle&lt;-\pi) \\
    \\
    key\_angle = key\_angle-2\pi \qquad (&#x82E5; key\_angle&gt;\pi)
\end{matrix}
\right.</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:3.6em;vertical-align:-1.55em;"></span><span class="minner"><span class="mopen"><span class="delimsizing mult"><span class="vlist-t vlist-t2"><span class="vlist-r"><span class="vlist" style="height:2.05em;"><span style="top:-2.5em;"><span class="pstrut" style="height:3.15em;"></span><span class="delimsizinginner delim-size4"><span>&#x23A9;</span></span></span><span style="top:-2.492em;"><span class="pstrut" style="height:3.15em;"></span><span style="height:0.016em;width:0.8889em;"><svg xmlns="http://www.w3.org/2000/svg" width="0.8889em" height="0.016em" style="width:0.8889em" viewBox="0 0 888.89 16" preserveAspectRatio="xMinYMin"><path d="M384 0 H504 V16 H384z M384 0 H504 V16 H384z"/></svg></span></span><span style="top:-3.15em;"><span class="pstrut" style="height:3.15em;"></span><span class="delimsizinginner delim-size4"><span>&#x23A8;</span></span></span><span style="top:-4.292em;"><span class="pstrut" style="height:3.15em;"></span><span style="height:0.016em;width:0.8889em;"><svg xmlns="http://www.w3.org/2000/svg" width="0.8889em" height="0.016em" style="width:0.8889em" viewBox="0 0 888.89 16" preserveAspectRatio="xMinYMin"><path d="M384 0 H504 V16 H384z M384 0 H504 V16 H384z"/></svg></span></span><span style="top:-4.3em;"><span class="pstrut" style="height:3.15em;"></span><span class="delimsizinginner delim-size4"><span>&#x23A7;</span></span></span></span><span class="vlist-s">&#x200B;</span></span><span class="vlist-r"><span class="vlist" style="height:1.55em;"><span></span></span></span></span></span></span><span class="mord"><span class="mtable"><span class="col-align-c"><span class="vlist-t vlist-t2"><span class="vlist-r"><span class="vlist" style="height:2.05em;"><span style="top:-4.21em;"><span class="pstrut" style="height:3em;"></span><span class="mord"><span class="mord mathnormal" style="margin-right:0.03148em;">k</span><span class="mord mathnormal" style="margin-right:0.03588em;">ey</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mrel">=</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mord mathnormal" style="margin-right:0.03148em;">k</span><span class="mord mathnormal" style="margin-right:0.03588em;">ey</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">+</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord">2</span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span><span class="mspace" style="margin-right:2em;"></span><span class="mopen">(</span><span class="mord cjk_fallback">&#x82E5;</span><span class="mord mathnormal" style="margin-right:0.03148em;">k</span><span class="mord mathnormal" style="margin-right:0.03588em;">ey</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mrel">&lt;</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mord">&#x2212;</span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span><span class="mclose">)</span></span></span><span style="top:-3.01em;"><span class="pstrut" style="height:3em;"></span><span class="mord"></span></span><span style="top:-1.81em;"><span class="pstrut" style="height:3em;"></span><span class="mord"><span class="mord mathnormal" style="margin-right:0.03148em;">k</span><span class="mord mathnormal" style="margin-right:0.03588em;">ey</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mrel">=</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mord mathnormal" style="margin-right:0.03148em;">k</span><span class="mord mathnormal" style="margin-right:0.03588em;">ey</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">&#x2212;</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord">2</span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span><span class="mspace" style="margin-right:2em;"></span><span class="mopen">(</span><span class="mord cjk_fallback">&#x82E5;</span><span class="mord mathnormal" style="margin-right:0.03148em;">k</span><span class="mord mathnormal" style="margin-right:0.03588em;">ey</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mrel">&gt;</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span><span class="mclose">)</span></span></span></span><span class="vlist-s">&#x200B;</span></span><span class="vlist-r"><span class="vlist" style="height:1.55em;"><span></span></span></span></span></span></span></span><span class="mclose nulldelimiter"></span></span></span></span></span></span></p>
<p><span class="katex-display"><span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML" display="block"><semantics><mrow><mo fence="true">{</mo><mtable rowspacing="0.16em" columnalign="center" columnspacing="1em"><mtr><mtd><mstyle scriptlevel="0" displaystyle="false"><mrow><mi>c</mi><mi>i</mi><mi>r</mi><mi>c</mi><mi>l</mi><mi>e</mi><mo>=</mo><mi>c</mi><mi>i</mi><mi>r</mi><mi>c</mi><mi>l</mi><mi>e</mi><mo>&#x2212;</mo><mn>1</mn><mspace width="2em"></mspace><mo stretchy="false">(</mo><mtext>&#x82E5;</mtext><mi>k</mi><mi>e</mi><mi>y</mi><mi mathvariant="normal">_</mi><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi><mo>&#x2212;</mo><mi>l</mi><mi>a</mi><mi>s</mi><mi>t</mi><mi mathvariant="normal">_</mi><mi>k</mi><mi>e</mi><mi>y</mi><mi mathvariant="normal">_</mi><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi><mo>&gt;</mo><mn>1.8</mn><mi>&#x3C0;</mi><mo stretchy="false">)</mo></mrow></mstyle></mtd></mtr><mtr><mtd><mstyle scriptlevel="0" displaystyle="false"><mrow></mrow></mstyle></mtd></mtr><mtr><mtd><mstyle scriptlevel="0" displaystyle="false"><mrow><mi>c</mi><mi>i</mi><mi>r</mi><mi>c</mi><mi>l</mi><mi>e</mi><mo>=</mo><mi>c</mi><mi>i</mi><mi>r</mi><mi>c</mi><mi>l</mi><mi>e</mi><mo>+</mo><mn>1</mn><mspace width="2em"></mspace><mo stretchy="false">(</mo><mtext>&#x82E5;</mtext><mi>k</mi><mi>e</mi><mi>y</mi><mi mathvariant="normal">_</mi><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi><mo>&#x2212;</mo><mi>l</mi><mi>a</mi><mi>s</mi><mi>t</mi><mi mathvariant="normal">_</mi><mi>k</mi><mi>e</mi><mi>y</mi><mi mathvariant="normal">_</mi><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi><mo>&lt;</mo><mo>&#x2212;</mo><mn>1.8</mn><mi>&#x3C0;</mi><mo stretchy="false">)</mo></mrow></mstyle></mtd></mtr></mtable></mrow><annotation encoding="application/x-tex">\left\{
\begin{matrix}
    circle=circle-1\qquad(&#x82E5;key\_angle-last\_key\_angle&gt;1.8\pi)   \\
    \\ 
    circle=circle+1\qquad(&#x82E5;key\_angle-last\_key\_angle&lt;-1.8\pi)
\end{matrix}
\right.</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:3.6em;vertical-align:-1.55em;"></span><span class="minner"><span class="mopen"><span class="delimsizing mult"><span class="vlist-t vlist-t2"><span class="vlist-r"><span class="vlist" style="height:2.05em;"><span style="top:-2.5em;"><span class="pstrut" style="height:3.15em;"></span><span class="delimsizinginner delim-size4"><span>&#x23A9;</span></span></span><span style="top:-2.492em;"><span class="pstrut" style="height:3.15em;"></span><span style="height:0.016em;width:0.8889em;"><svg xmlns="http://www.w3.org/2000/svg" width="0.8889em" height="0.016em" style="width:0.8889em" viewBox="0 0 888.89 16" preserveAspectRatio="xMinYMin"><path d="M384 0 H504 V16 H384z M384 0 H504 V16 H384z"/></svg></span></span><span style="top:-3.15em;"><span class="pstrut" style="height:3.15em;"></span><span class="delimsizinginner delim-size4"><span>&#x23A8;</span></span></span><span style="top:-4.292em;"><span class="pstrut" style="height:3.15em;"></span><span style="height:0.016em;width:0.8889em;"><svg xmlns="http://www.w3.org/2000/svg" width="0.8889em" height="0.016em" style="width:0.8889em" viewBox="0 0 888.89 16" preserveAspectRatio="xMinYMin"><path d="M384 0 H504 V16 H384z M384 0 H504 V16 H384z"/></svg></span></span><span style="top:-4.3em;"><span class="pstrut" style="height:3.15em;"></span><span class="delimsizinginner delim-size4"><span>&#x23A7;</span></span></span></span><span class="vlist-s">&#x200B;</span></span><span class="vlist-r"><span class="vlist" style="height:1.55em;"><span></span></span></span></span></span></span><span class="mord"><span class="mtable"><span class="col-align-c"><span class="vlist-t vlist-t2"><span class="vlist-r"><span class="vlist" style="height:2.05em;"><span style="top:-4.21em;"><span class="pstrut" style="height:3em;"></span><span class="mord"><span class="mord mathnormal">c</span><span class="mord mathnormal">i</span><span class="mord mathnormal">rc</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mrel">=</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mord mathnormal">c</span><span class="mord mathnormal">i</span><span class="mord mathnormal">rc</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">&#x2212;</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord">1</span><span class="mspace" style="margin-right:2em;"></span><span class="mopen">(</span><span class="mord cjk_fallback">&#x82E5;</span><span class="mord mathnormal" style="margin-right:0.03148em;">k</span><span class="mord mathnormal" style="margin-right:0.03588em;">ey</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">&#x2212;</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">a</span><span class="mord mathnormal">s</span><span class="mord mathnormal">t</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal" style="margin-right:0.03148em;">k</span><span class="mord mathnormal" style="margin-right:0.03588em;">ey</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mrel">&gt;</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mord">1.8</span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span><span class="mclose">)</span></span></span><span style="top:-3.01em;"><span class="pstrut" style="height:3em;"></span><span class="mord"></span></span><span style="top:-1.81em;"><span class="pstrut" style="height:3em;"></span><span class="mord"><span class="mord mathnormal">c</span><span class="mord mathnormal">i</span><span class="mord mathnormal">rc</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mrel">=</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mord mathnormal">c</span><span class="mord mathnormal">i</span><span class="mord mathnormal">rc</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">+</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord">1</span><span class="mspace" style="margin-right:2em;"></span><span class="mopen">(</span><span class="mord cjk_fallback">&#x82E5;</span><span class="mord mathnormal" style="margin-right:0.03148em;">k</span><span class="mord mathnormal" style="margin-right:0.03588em;">ey</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">&#x2212;</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">a</span><span class="mord mathnormal">s</span><span class="mord mathnormal">t</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal" style="margin-right:0.03148em;">k</span><span class="mord mathnormal" style="margin-right:0.03588em;">ey</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mrel">&lt;</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mord">&#x2212;</span><span class="mord">1.8</span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span><span class="mclose">)</span></span></span></span><span class="vlist-s">&#x200B;</span></span><span class="vlist-r"><span class="vlist" style="height:1.55em;"><span></span></span></span></span></span></span></span><span class="mclose nulldelimiter"></span></span></span></span></span></span></p>
<h3 class="mume-header" id="5-%E5%BE%97%E5%88%B0%E5%AE%9E%E9%99%85%E5%85%B3%E9%94%AE%E8%A7%92%E5%BA%A6%E8%BF%87%E4%B8%80%E9%81%8Dpf%E5%B9%B6%E8%BF%9E%E5%90%8C%E8%BF%90%E8%A1%8C%E6%97%B6%E9%97%B4%E4%B8%80%E8%B5%B7%E5%8A%A0%E5%85%A5%E6%A0%B7%E6%9C%AC%E6%95%B0%E6%8D%AE%E9%9B%86">5. &#x5F97;&#x5230;&#x5B9E;&#x9645;&#x5173;&#x952E;&#x89D2;&#x5EA6;&#xFF0C;&#x8FC7;&#x4E00;&#x904D;PF&#x5E76;&#x8FDE;&#x540C;&#x8FD0;&#x884C;&#x65F6;&#x95F4;&#x4E00;&#x8D77;&#x52A0;&#x5165;&#x6837;&#x672C;&#x6570;&#x636E;&#x96C6;</h3>

<p>&#x5B9E;&#x9645;&#x5173;&#x952E;&#x89D2;&#x5EA6; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>r</mi><mi>e</mi><mi>a</mi><mi>l</mi><mi mathvariant="normal">_</mi><mi>k</mi><mi>e</mi><mi>y</mi><mi mathvariant="normal">_</mi><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi></mrow><annotation encoding="application/x-tex">real\_key\_angle</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:1.0044em;vertical-align:-0.31em;"></span><span class="mord mathnormal">re</span><span class="mord mathnormal">a</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal" style="margin-right:0.03148em;">k</span><span class="mord mathnormal" style="margin-right:0.03588em;">ey</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span></span></span></span> &#x662F;&#x6839;&#x636E;&#x5173;&#x952E;&#x89D2;&#x5EA6;&#x548C;&#x5708;&#x6570;&#x8BA1;&#x7B97;&#x6765;&#x7684;&#xFF0C;&#x8BA1;&#x7B97;&#x516C;&#x5F0F;&#x5982;&#x4E0B;&#xFF1A;</p>
<p><span class="katex-display"><span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML" display="block"><semantics><mrow><mi>r</mi><mi>e</mi><mi>a</mi><mi>l</mi><mi mathvariant="normal">_</mi><mi>k</mi><mi>e</mi><mi>y</mi><mi mathvariant="normal">_</mi><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi><mo>=</mo><mi>k</mi><mi>e</mi><mi>y</mi><mi mathvariant="normal">_</mi><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi><mo>+</mo><mn>2</mn><mi>&#x3C0;</mi><mo>&#x2217;</mo><mi>c</mi><mi>i</mi><mi>r</mi><mi>c</mi><mi>l</mi><mi>e</mi></mrow><annotation encoding="application/x-tex">real\_key\_angle=key\_angle+2\pi*circle</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:1.0044em;vertical-align:-0.31em;"></span><span class="mord mathnormal">re</span><span class="mord mathnormal">a</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal" style="margin-right:0.03148em;">k</span><span class="mord mathnormal" style="margin-right:0.03588em;">ey</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mrel">=</span><span class="mspace" style="margin-right:0.2778em;"></span></span><span class="base"><span class="strut" style="height:1.0044em;vertical-align:-0.31em;"></span><span class="mord mathnormal" style="margin-right:0.03148em;">k</span><span class="mord mathnormal" style="margin-right:0.03588em;">ey</span><span class="mord" style="margin-right:0.02778em;">_</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">+</span><span class="mspace" style="margin-right:0.2222em;"></span></span><span class="base"><span class="strut" style="height:0.6444em;"></span><span class="mord">2</span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C0;</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">&#x2217;</span><span class="mspace" style="margin-right:0.2222em;"></span></span><span class="base"><span class="strut" style="height:0.6944em;"></span><span class="mord mathnormal">c</span><span class="mord mathnormal">i</span><span class="mord mathnormal">rc</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span></span></span></span></span></p>
<p>&#x4E4B;&#x540E;&#x8FDB;&#x884C; pf &#x6EE4;&#x6CE2;&#xFF0C;&#x8FDE;&#x540C;&#x7A0B;&#x5E8F;&#x8FD0;&#x884C;&#x65F6;&#x95F4;&#x5206;&#x522B;&#x653E;&#x5165;&#x4E24;&#x4E2A;&#x5BB9;&#x5668;</p>
<h3 class="mume-header" id="6%E5%88%A4%E6%96%AD%E6%97%8B%E8%BD%AC%E6%96%B9%E5%90%91">6.&#x5224;&#x65AD;&#x65CB;&#x8F6C;&#x65B9;&#x5411;</h3>

<p>&#x5F53;&#x6837;&#x672C;&#x96C6;&#x4E2D;&#x7684;&#x6570;&#x636E;&#x8FBE;&#x5230;50&#x7EC4;&#x65F6;&#xFF0C;&#x6839;&#x636E;&#x6570;&#x636E;&#x96C6;&#x4E2D;&#x6700;&#x65E9;&#x548C;&#x6700;&#x665A;&#x7684;&#x6570;&#x636E;&#x5224;&#x65AD;&#x65CB;&#x8F6C;&#x65B9;&#x5411;&#x662F;&#x987A;&#x65F6;&#x9488;&#x8FD8;&#x662F;&#x9006;&#x65F6;&#x9488;&#x3002;&#x82E5;&#x6837;&#x672C;&#x96C6;&#x4E2D;&#x6570;&#x636E;&#x5C11;&#x4E8E;50&#x7EC4;&#xFF0C;&#x5219;&#x8FD4;&#x56DE;&#x6389;&#x5E27;&#x6807;&#x5FD7;&#x3002;</p>
<p>&#x5F97;&#x5230; 50 &#x7EC4;&#x6570;&#x636E;&#x540E;&#xFF0C;&#x82E5;&#x6700;&#x665A;&#x65F6;&#x523B;&#x7684;&#x5B9E;&#x9645;&#x5173;&#x952E;&#x89D2;&#x5EA6;&#x503C;&#x5927;&#x4E8E;&#x6700;&#x65E9;&#x65F6;&#x523B;&#x7684;&#x5B9E;&#x9645;&#x5173;&#x952E;&#x89D2;&#x5EA6;&#x503C;&#xFF0C;&#x5219;&#x4E3A;&#x9006;&#x65F6;&#x9488;&#x65CB;&#x8F6C;&#x3002;&#x5426;&#x5219;&#x4E3A;&#x987A;&#x65F6;&#x9488;&#x65CB;&#x8F6C;&#x3002;</p>
<h3 class="mume-header" id="7-%E6%8B%9F%E5%90%88%E5%87%BD%E6%95%B0">7. &#x62DF;&#x5408;&#x51FD;&#x6570;</h3>

<p>&#x5224;&#x65AD;&#x65CB;&#x8F6C;&#x65B9;&#x5411;&#x4E4B;&#x540E;&#xFF0C;&#x624D;&#x80FD;&#x5F00;&#x59CB;&#x6267;&#x884C;&#x8FD9;&#x4E00;&#x6B65;&#x9AA4;&#x3002;</p>
<p>&#x5C0F;&#x7B26;&#x62DF;&#x5408;&#x51FD;&#x6570;&#xFF08;<span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>a</mi><mo separator="true">,</mo><mi>b</mi><mo separator="true">,</mo><mi>c</mi></mrow><annotation encoding="application/x-tex">a,b,c</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.8889em;vertical-align:-0.1944em;"></span><span class="mord mathnormal">a</span><span class="mpunct">,</span><span class="mspace" style="margin-right:0.1667em;"></span><span class="mord mathnormal">b</span><span class="mpunct">,</span><span class="mspace" style="margin-right:0.1667em;"></span><span class="mord mathnormal">c</span></span></span></span> &#x4E3A;&#x5F85;&#x5B9A;&#x53C2;&#x6570;&#xFF09;&#xFF1A;</p>
<p><span class="katex-display"><span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML" display="block"><semantics><mrow><mi>F</mi><mo stretchy="false">(</mo><mi>t</mi><mo stretchy="false">)</mo><mo>=</mo><mrow><mo fence="true">{</mo><mtable rowspacing="0.16em" columnalign="center" columnspacing="1em"><mtr><mtd><mstyle scriptlevel="0" displaystyle="false"><mrow><mi>a</mi><mo stretchy="false">(</mo><mi>t</mi><mo>+</mo><mi>b</mi><mo stretchy="false">)</mo><mo>+</mo><mi>c</mi><mspace width="2em"></mspace><mo stretchy="false">(</mo><mtext>&#x9006;&#x65F6;&#x9488;</mtext><mo stretchy="false">)</mo></mrow></mstyle></mtd></mtr><mtr><mtd><mstyle scriptlevel="0" displaystyle="false"><mrow></mrow></mstyle></mtd></mtr><mtr><mtd><mstyle scriptlevel="0" displaystyle="false"><mrow><mo>&#x2212;</mo><mi>a</mi><mo stretchy="false">(</mo><mi>t</mi><mo>+</mo><mi>b</mi><mo stretchy="false">)</mo><mo>+</mo><mi>c</mi><mspace width="2em"></mspace><mo stretchy="false">(</mo><mtext>&#x987A;&#x65F6;&#x9488;</mtext><mo stretchy="false">)</mo></mrow></mstyle></mtd></mtr></mtable></mrow></mrow><annotation encoding="application/x-tex">F(t)=\left\{
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\right.</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:1em;vertical-align:-0.25em;"></span><span class="mord mathnormal" style="margin-right:0.13889em;">F</span><span class="mopen">(</span><span class="mord mathnormal">t</span><span class="mclose">)</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mrel">=</span><span class="mspace" style="margin-right:0.2778em;"></span></span><span class="base"><span class="strut" style="height:3.6em;vertical-align:-1.55em;"></span><span class="minner"><span class="mopen"><span class="delimsizing mult"><span class="vlist-t vlist-t2"><span class="vlist-r"><span class="vlist" style="height:2.05em;"><span style="top:-2.5em;"><span class="pstrut" style="height:3.15em;"></span><span class="delimsizinginner delim-size4"><span>&#x23A9;</span></span></span><span style="top:-2.492em;"><span class="pstrut" style="height:3.15em;"></span><span style="height:0.016em;width:0.8889em;"><svg xmlns="http://www.w3.org/2000/svg" width="0.8889em" height="0.016em" style="width:0.8889em" viewBox="0 0 888.89 16" preserveAspectRatio="xMinYMin"><path d="M384 0 H504 V16 H384z M384 0 H504 V16 H384z"/></svg></span></span><span style="top:-3.15em;"><span class="pstrut" style="height:3.15em;"></span><span class="delimsizinginner delim-size4"><span>&#x23A8;</span></span></span><span style="top:-4.292em;"><span class="pstrut" style="height:3.15em;"></span><span style="height:0.016em;width:0.8889em;"><svg xmlns="http://www.w3.org/2000/svg" width="0.8889em" height="0.016em" style="width:0.8889em" viewBox="0 0 888.89 16" preserveAspectRatio="xMinYMin"><path d="M384 0 H504 V16 H384z M384 0 H504 V16 H384z"/></svg></span></span><span style="top:-4.3em;"><span class="pstrut" style="height:3.15em;"></span><span class="delimsizinginner delim-size4"><span>&#x23A7;</span></span></span></span><span class="vlist-s">&#x200B;</span></span><span class="vlist-r"><span class="vlist" style="height:1.55em;"><span></span></span></span></span></span></span><span class="mord"><span class="mtable"><span class="col-align-c"><span class="vlist-t vlist-t2"><span class="vlist-r"><span class="vlist" style="height:2.05em;"><span style="top:-4.21em;"><span class="pstrut" style="height:3em;"></span><span class="mord"><span class="mord mathnormal">a</span><span class="mopen">(</span><span class="mord mathnormal">t</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">+</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord mathnormal">b</span><span class="mclose">)</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">+</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord mathnormal">c</span><span class="mspace" style="margin-right:2em;"></span><span class="mopen">(</span><span class="mord cjk_fallback">&#x9006;&#x65F6;&#x9488;</span><span class="mclose">)</span></span></span><span style="top:-3.01em;"><span class="pstrut" style="height:3em;"></span><span class="mord"></span></span><span style="top:-1.81em;"><span class="pstrut" style="height:3em;"></span><span class="mord"><span class="mord">&#x2212;</span><span class="mord mathnormal">a</span><span class="mopen">(</span><span class="mord mathnormal">t</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">+</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord mathnormal">b</span><span class="mclose">)</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">+</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord mathnormal">c</span><span class="mspace" style="margin-right:2em;"></span><span class="mopen">(</span><span class="mord cjk_fallback">&#x987A;&#x65F6;&#x9488;</span><span class="mclose">)</span></span></span></span><span class="vlist-s">&#x200B;</span></span><span class="vlist-r"><span class="vlist" style="height:1.55em;"><span></span></span></span></span></span></span></span><span class="mclose nulldelimiter"></span></span></span></span></span></span></p>
<p>&#x5176;&#x4E2D; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>a</mi></mrow><annotation encoding="application/x-tex">a</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.4306em;"></span><span class="mord mathnormal">a</span></span></span></span> &#x9650;&#x5236;&#x5728; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mo stretchy="false">[</mo><mn>0.4</mn><mo separator="true">,</mo><mn>2.0</mn><mo stretchy="false">]</mo></mrow><annotation encoding="application/x-tex">[0.4,2.0]</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:1em;vertical-align:-0.25em;"></span><span class="mopen">[</span><span class="mord">0.4</span><span class="mpunct">,</span><span class="mspace" style="margin-right:0.1667em;"></span><span class="mord">2.0</span><span class="mclose">]</span></span></span></span> &#xFF0C;&#x8868;&#x793A;&#x65CB;&#x8F6C;&#x901F;&#x5EA6;&#x3002;&#x6807;&#x51C6;&#x7684;&#x8BDD;&#x662F; 1.047&#xFF0C;&#x4F46;&#x4E3A;&#x4E86;&#x9632;&#x6B62;&#x89C2;&#x6D4B;&#x8BEF;&#x5DEE;&#x548C;&#x8F6C;&#x901F;&#x8BEF;&#x5DEE;&#xFF0C;&#x7ED9;&#x4E86;&#x4E00;&#x4E2A;&#x6BD4;&#x8F83;&#x5BBD;&#x7684;&#x8303;&#x56F4;&#x3002;</p>
<p><span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>b</mi></mrow><annotation encoding="application/x-tex">b</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.6944em;"></span><span class="mord mathnormal">b</span></span></span></span>, <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>c</mi></mrow><annotation encoding="application/x-tex">c</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.4306em;"></span><span class="mord mathnormal">c</span></span></span></span> &#x662F;&#x4E0E;&#x521D;&#x59CB;&#x72B6;&#x6001;&#x76F8;&#x5173;&#x7684;&#x6570;&#x3002;</p>
<p>&#x5927;&#x7B26;&#x62DF;&#x5408;&#x51FD;&#x6570;&#xFF08;<span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>a</mi><mo separator="true">,</mo><mi>&#x3C9;</mi><mo separator="true">,</mo><mi>b</mi><mo separator="true">,</mo><mi>c</mi><mo separator="true">,</mo><mi>d</mi></mrow><annotation encoding="application/x-tex">a,\omega,b,c,d</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.8889em;vertical-align:-0.1944em;"></span><span class="mord mathnormal">a</span><span class="mpunct">,</span><span class="mspace" style="margin-right:0.1667em;"></span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C9;</span><span class="mpunct">,</span><span class="mspace" style="margin-right:0.1667em;"></span><span class="mord mathnormal">b</span><span class="mpunct">,</span><span class="mspace" style="margin-right:0.1667em;"></span><span class="mord mathnormal">c</span><span class="mpunct">,</span><span class="mspace" style="margin-right:0.1667em;"></span><span class="mord mathnormal">d</span></span></span></span> &#x4E3A;&#x5F85;&#x5B9A;&#x53C2;&#x6570;&#xFF09;&#xFF1A;<br>
<span class="katex-display"><span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML" display="block"><semantics><mrow><mi>F</mi><mo stretchy="false">(</mo><mi>t</mi><mo stretchy="false">)</mo><mo>=</mo><mrow><mo fence="true">{</mo><mtable rowspacing="0.16em" columnalign="center" columnspacing="1em"><mtr><mtd><mstyle scriptlevel="0" displaystyle="false"><mrow><mo>&#x2212;</mo><mfrac><mi>a</mi><mi>&#x3C9;</mi></mfrac><mi>c</mi><mi>o</mi><mi>s</mi><mo stretchy="false">[</mo><mi>&#x3C9;</mi><mo stretchy="false">(</mo><mi>t</mi><mo>+</mo><mi>c</mi><mo stretchy="false">)</mo><mo stretchy="false">]</mo><mo>+</mo><mi>b</mi><mo stretchy="false">(</mo><mi>t</mi><mo>+</mo><mi>c</mi><mo stretchy="false">)</mo><mo>+</mo><mi>d</mi><mspace width="2em"></mspace><mo stretchy="false">(</mo><mtext>&#x9006;&#x65F6;&#x9488;</mtext><mo stretchy="false">)</mo></mrow></mstyle></mtd></mtr><mtr><mtd><mstyle scriptlevel="0" displaystyle="false"><mrow></mrow></mstyle></mtd></mtr><mtr><mtd><mstyle scriptlevel="0" displaystyle="false"><mrow><mfrac><mi>a</mi><mi>&#x3C9;</mi></mfrac><mi>c</mi><mi>o</mi><mi>s</mi><mo stretchy="false">[</mo><mi>&#x3C9;</mi><mo stretchy="false">(</mo><mi>t</mi><mo>+</mo><mi>c</mi><mo stretchy="false">)</mo><mo stretchy="false">]</mo><mo>&#x2212;</mo><mi>b</mi><mo stretchy="false">(</mo><mi>t</mi><mo>+</mo><mi>c</mi><mo stretchy="false">)</mo><mo>+</mo><mi>d</mi><mspace width="2em"></mspace><mo stretchy="false">(</mo><mtext>&#x987A;&#x65F6;&#x9488;</mtext><mo stretchy="false">)</mo></mrow></mstyle></mtd></mtr></mtable></mrow></mrow><annotation encoding="application/x-tex">F(t)=\left\{
    \begin{matrix}
        -\frac{a}{\omega}cos[\omega(t+c)]+b(t+c)+d \qquad (&#x9006;&#x65F6;&#x9488;)\\
        \\
        \frac{a}{\omega}cos[\omega(t+c)]-b(t+c)+d \qquad (&#x987A;&#x65F6;&#x9488;)
    \end{matrix}
\right.</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:1em;vertical-align:-0.25em;"></span><span class="mord mathnormal" style="margin-right:0.13889em;">F</span><span class="mopen">(</span><span class="mord mathnormal">t</span><span class="mclose">)</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mrel">=</span><span class="mspace" style="margin-right:0.2778em;"></span></span><span class="base"><span class="strut" style="height:3.6em;vertical-align:-1.55em;"></span><span class="minner"><span class="mopen"><span class="delimsizing mult"><span class="vlist-t vlist-t2"><span class="vlist-r"><span class="vlist" style="height:2.05em;"><span style="top:-2.5em;"><span class="pstrut" style="height:3.15em;"></span><span class="delimsizinginner delim-size4"><span>&#x23A9;</span></span></span><span style="top:-2.492em;"><span class="pstrut" style="height:3.15em;"></span><span style="height:0.016em;width:0.8889em;"><svg xmlns="http://www.w3.org/2000/svg" width="0.8889em" height="0.016em" style="width:0.8889em" viewBox="0 0 888.89 16" preserveAspectRatio="xMinYMin"><path d="M384 0 H504 V16 H384z M384 0 H504 V16 H384z"/></svg></span></span><span style="top:-3.15em;"><span class="pstrut" style="height:3.15em;"></span><span class="delimsizinginner delim-size4"><span>&#x23A8;</span></span></span><span style="top:-4.292em;"><span class="pstrut" style="height:3.15em;"></span><span style="height:0.016em;width:0.8889em;"><svg xmlns="http://www.w3.org/2000/svg" width="0.8889em" height="0.016em" style="width:0.8889em" viewBox="0 0 888.89 16" preserveAspectRatio="xMinYMin"><path d="M384 0 H504 V16 H384z M384 0 H504 V16 H384z"/></svg></span></span><span style="top:-4.3em;"><span class="pstrut" style="height:3.15em;"></span><span class="delimsizinginner delim-size4"><span>&#x23A7;</span></span></span></span><span class="vlist-s">&#x200B;</span></span><span class="vlist-r"><span class="vlist" style="height:1.55em;"><span></span></span></span></span></span></span><span class="mord"><span class="mtable"><span class="col-align-c"><span class="vlist-t vlist-t2"><span class="vlist-r"><span class="vlist" style="height:2.05em;"><span style="top:-4.21em;"><span class="pstrut" style="height:3em;"></span><span class="mord"><span class="mord">&#x2212;</span><span class="mord"><span class="mopen nulldelimiter"></span><span class="mfrac"><span class="vlist-t vlist-t2"><span class="vlist-r"><span class="vlist" style="height:0.6954em;"><span style="top:-2.655em;"><span class="pstrut" style="height:3em;"></span><span class="sizing reset-size6 size3 mtight"><span class="mord mtight"><span class="mord mathnormal mtight" style="margin-right:0.03588em;">&#x3C9;</span></span></span></span><span style="top:-3.23em;"><span class="pstrut" style="height:3em;"></span><span class="frac-line" style="border-bottom-width:0.04em;"></span></span><span style="top:-3.394em;"><span class="pstrut" style="height:3em;"></span><span class="sizing reset-size6 size3 mtight"><span class="mord mtight"><span class="mord mathnormal mtight">a</span></span></span></span></span><span class="vlist-s">&#x200B;</span></span><span class="vlist-r"><span class="vlist" style="height:0.345em;"><span></span></span></span></span></span><span class="mclose nulldelimiter"></span></span><span class="mord mathnormal">cos</span><span class="mopen">[</span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C9;</span><span class="mopen">(</span><span class="mord mathnormal">t</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">+</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord mathnormal">c</span><span class="mclose">)]</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">+</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord mathnormal">b</span><span class="mopen">(</span><span class="mord mathnormal">t</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">+</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord mathnormal">c</span><span class="mclose">)</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">+</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord mathnormal">d</span><span class="mspace" style="margin-right:2em;"></span><span class="mopen">(</span><span class="mord cjk_fallback">&#x9006;&#x65F6;&#x9488;</span><span class="mclose">)</span></span></span><span style="top:-3.01em;"><span class="pstrut" style="height:3em;"></span><span class="mord"></span></span><span style="top:-1.81em;"><span class="pstrut" style="height:3em;"></span><span class="mord"><span class="mord"><span class="mopen nulldelimiter"></span><span class="mfrac"><span class="vlist-t vlist-t2"><span class="vlist-r"><span class="vlist" style="height:0.6954em;"><span style="top:-2.655em;"><span class="pstrut" style="height:3em;"></span><span class="sizing reset-size6 size3 mtight"><span class="mord mtight"><span class="mord mathnormal mtight" style="margin-right:0.03588em;">&#x3C9;</span></span></span></span><span style="top:-3.23em;"><span class="pstrut" style="height:3em;"></span><span class="frac-line" style="border-bottom-width:0.04em;"></span></span><span style="top:-3.394em;"><span class="pstrut" style="height:3em;"></span><span class="sizing reset-size6 size3 mtight"><span class="mord mtight"><span class="mord mathnormal mtight">a</span></span></span></span></span><span class="vlist-s">&#x200B;</span></span><span class="vlist-r"><span class="vlist" style="height:0.345em;"><span></span></span></span></span></span><span class="mclose nulldelimiter"></span></span><span class="mord mathnormal">cos</span><span class="mopen">[</span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C9;</span><span class="mopen">(</span><span class="mord mathnormal">t</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">+</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord mathnormal">c</span><span class="mclose">)]</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">&#x2212;</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord mathnormal">b</span><span class="mopen">(</span><span class="mord mathnormal">t</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">+</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord mathnormal">c</span><span class="mclose">)</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">+</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mord mathnormal">d</span><span class="mspace" style="margin-right:2em;"></span><span class="mopen">(</span><span class="mord cjk_fallback">&#x987A;&#x65F6;&#x9488;</span><span class="mclose">)</span></span></span></span><span class="vlist-s">&#x200B;</span></span><span class="vlist-r"><span class="vlist" style="height:1.55em;"><span></span></span></span></span></span></span></span><span class="mclose nulldelimiter"></span></span></span></span></span></span></p>
<p>&#x6839;&#x636E;&#x89C4;&#x5219;&#xFF0C;<span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>a</mi></mrow><annotation encoding="application/x-tex">a</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.4306em;"></span><span class="mord mathnormal">a</span></span></span></span> &#x7684;&#x53D6;&#x503C;&#x8303;&#x56F4;&#x4E3A; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mo stretchy="false">[</mo><mn>0.780</mn><mo separator="true">,</mo><mn>1.045</mn><mo stretchy="false">]</mo></mrow><annotation encoding="application/x-tex">[0.780,1.045]</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:1em;vertical-align:-0.25em;"></span><span class="mopen">[</span><span class="mord">0.780</span><span class="mpunct">,</span><span class="mspace" style="margin-right:0.1667em;"></span><span class="mord">1.045</span><span class="mclose">]</span></span></span></span>&#xFF0C;<span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>&#x3C9;</mi></mrow><annotation encoding="application/x-tex">\omega</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.4306em;"></span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C9;</span></span></span></span> &#x7684;&#x53D6;&#x503C;&#x8303;&#x56F4;&#x4E3A; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mo stretchy="false">[</mo><mn>1.884</mn><mo separator="true">,</mo><mn>2.000</mn><mo stretchy="false">]</mo></mrow><annotation encoding="application/x-tex">[1.884,2.000]</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:1em;vertical-align:-0.25em;"></span><span class="mopen">[</span><span class="mord">1.884</span><span class="mpunct">,</span><span class="mspace" style="margin-right:0.1667em;"></span><span class="mord">2.000</span><span class="mclose">]</span></span></span></span>&#xFF0C;<span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>b</mi><mo>=</mo><mn>2.09</mn><mo>&#x2212;</mo><mi>a</mi></mrow><annotation encoding="application/x-tex">b=2.09-a</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.6944em;"></span><span class="mord mathnormal">b</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mrel">=</span><span class="mspace" style="margin-right:0.2778em;"></span></span><span class="base"><span class="strut" style="height:0.7278em;vertical-align:-0.0833em;"></span><span class="mord">2.09</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">&#x2212;</span><span class="mspace" style="margin-right:0.2222em;"></span></span><span class="base"><span class="strut" style="height:0.4306em;"></span><span class="mord mathnormal">a</span></span></span></span>&#xFF0C;<span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>c</mi></mrow><annotation encoding="application/x-tex">c</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.4306em;"></span><span class="mord mathnormal">c</span></span></span></span> &#x548C; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>d</mi></mrow><annotation encoding="application/x-tex">d</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.6944em;"></span><span class="mord mathnormal">d</span></span></span></span> &#x662F;&#x4E0E;&#x521D;&#x59CB;&#x72B6;&#x6001;&#x76F8;&#x5173;&#x7684;&#x53C2;&#x6570;&#x3002;</p>
<p>&#x4E00;&#x822C;&#x4E3A;&#x4E86;&#x63D0;&#x9AD8;&#x9002;&#x7528;&#x6027;&#xFF0C;<span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>a</mi></mrow><annotation encoding="application/x-tex">a</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.4306em;"></span><span class="mord mathnormal">a</span></span></span></span> &#x548C; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>&#x3C9;</mi></mrow><annotation encoding="application/x-tex">\omega</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.4306em;"></span><span class="mord mathnormal" style="margin-right:0.03588em;">&#x3C9;</span></span></span></span> &#x4F1A;&#x7ED9;&#x4E00;&#x4E2A;&#x6BD4;&#x8F83;&#x5BBD;&#x7684;&#x8303;&#x56F4;&#xFF0C;&#x4F46; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi>a</mi></mrow><annotation encoding="application/x-tex">a</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.4306em;"></span><span class="mord mathnormal">a</span></span></span></span> &#x7684;&#x6700;&#x5927;&#x503C;&#x4E0D;&#x80FD;&#x8D85;&#x8FC7; 1.045&#xFF0C;&#x5426;&#x5219;&#x4F1A;&#x51FA;&#x73B0;&#x53CD;&#x5411;&#x9884;&#x6D4B;&#x7684;&#x60C5;&#x51B5;&#x3002;</p>
<h3 class="mume-header" id="8-%E5%BE%97%E5%88%B0%E9%A2%84%E6%B5%8B%E4%BD%8D%E7%BD%AE">8. &#x5F97;&#x5230;&#x9884;&#x6D4B;&#x4F4D;&#x7F6E;</h3>

<p>&#x5229;&#x7528;&#x62DF;&#x5408;&#x5F97;&#x5230;&#x7684;&#x51FD;&#x6570;&#xFF0C;&#x8BA1;&#x7B97;&#x9884;&#x6D4B;&#x7684;&#x89D2;&#x5EA6;&#x504F;&#x79FB;&#x91CF;</p>
<p><span class="katex-display"><span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML" display="block"><semantics><mrow><mi mathvariant="normal">&#x394;</mi><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi><mo>=</mo><mi>F</mi><mo stretchy="false">(</mo><mi>t</mi><mo>+</mo><mi mathvariant="normal">&#x394;</mi><mi>t</mi><mo stretchy="false">)</mo><mo>&#x2212;</mo><mi>F</mi><mo stretchy="false">(</mo><mi>t</mi><mo stretchy="false">)</mo></mrow><annotation encoding="application/x-tex">\Delta angle = F(t+\Delta t)-F(t)</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.8889em;vertical-align:-0.1944em;"></span><span class="mord">&#x394;</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span><span class="mspace" style="margin-right:0.2778em;"></span><span class="mrel">=</span><span class="mspace" style="margin-right:0.2778em;"></span></span><span class="base"><span class="strut" style="height:1em;vertical-align:-0.25em;"></span><span class="mord mathnormal" style="margin-right:0.13889em;">F</span><span class="mopen">(</span><span class="mord mathnormal">t</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">+</span><span class="mspace" style="margin-right:0.2222em;"></span></span><span class="base"><span class="strut" style="height:1em;vertical-align:-0.25em;"></span><span class="mord">&#x394;</span><span class="mord mathnormal">t</span><span class="mclose">)</span><span class="mspace" style="margin-right:0.2222em;"></span><span class="mbin">&#x2212;</span><span class="mspace" style="margin-right:0.2222em;"></span></span><span class="base"><span class="strut" style="height:1em;vertical-align:-0.25em;"></span><span class="mord mathnormal" style="margin-right:0.13889em;">F</span><span class="mopen">(</span><span class="mord mathnormal">t</span><span class="mclose">)</span></span></span></span></span></p>
<p>&#x5176;&#x4E2D; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi mathvariant="normal">&#x394;</mi><mi>t</mi></mrow><annotation encoding="application/x-tex">\Delta t</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.6833em;"></span><span class="mord">&#x394;</span><span class="mord mathnormal">t</span></span></span></span> &#x4E3A;&#x9884;&#x6D4B;&#x65F6;&#x95F4;</p>
<p>&#x4E4B;&#x540E;&#x5C06;&#x539F;&#x59CB;&#x88C5;&#x7532;&#x677F;&#x7684; 4 &#x4E2A;&#x89D2;&#x70B9;&#x7ED5; R &#x6807;&#x65CB;&#x8F6C; <span class="katex"><span class="katex-mathml"><math xmlns="http://www.w3.org/1998/Math/MathML"><semantics><mrow><mi mathvariant="normal">&#x394;</mi><mi>a</mi><mi>n</mi><mi>g</mi><mi>l</mi><mi>e</mi></mrow><annotation encoding="application/x-tex">\Delta angle</annotation></semantics></math></span><span class="katex-html" aria-hidden="true"><span class="base"><span class="strut" style="height:0.8889em;vertical-align:-0.1944em;"></span><span class="mord">&#x394;</span><span class="mord mathnormal">an</span><span class="mord mathnormal" style="margin-right:0.03588em;">g</span><span class="mord mathnormal" style="margin-right:0.01968em;">l</span><span class="mord mathnormal">e</span></span></span></span>&#xFF0C;&#x5373;&#x5F97;&#x5230;&#x6700;&#x7EC8;&#x7684;&#x51FB;&#x6253;&#x4F4D;&#x7F6E;&#x3002;&#x518D;&#x5F80;&#x540E;&#x5C31;&#x662F;&#x505A;&#x8865;&#x507F;&#x4EE5;&#x53CA;&#x4F4D;&#x7F6E;&#x89E3;&#x7B97;&#x4E86;&#x3002;</p>
<h3 class="mume-header" id="9-%E4%BF%9D%E5%AD%98%E6%9C%AC%E6%AC%A1%E8%BF%90%E8%A1%8C%E7%9A%84%E6%95%B0%E6%8D%AE%E4%BE%9B%E4%B8%8B%E6%AC%A1%E6%89%A7%E8%A1%8C%E4%BD%BF%E7%94%A8">9. &#x4FDD;&#x5B58;&#x672C;&#x6B21;&#x8FD0;&#x884C;&#x7684;&#x6570;&#x636E;&#xFF0C;&#x4F9B;&#x4E0B;&#x6B21;&#x6267;&#x884C;&#x4F7F;&#x7528;</h3>

<p>&#x4FDD;&#x5B58;&#x5F53;&#x524D;&#x89C2;&#x6D4B;&#x7684;&#x89D2;&#x5EA6;&#x503C;&#xFF08;&#x7528;&#x4E8E;&#x5224;&#x65AD;&#x662F;&#x5426;&#x53D1;&#x751F;&#x6247;&#x53F6;&#x5207;&#x6362;&#xFF09;&#xFF0C;&#x4EE5;&#x53CA;&#x5F53;&#x524D;&#x7684;&#x5173;&#x952E;&#x89D2;&#x5EA6;&#x503C;&#xFF08;&#x7528;&#x4E8E;&#x5224;&#x65AD;&#x662F;&#x5426;&#x8D8A;&#x8FC7;&#x8DF3;&#x53D8;&#x70B9;&#xFF09;</p>
<h3 class="mume-header" id="10-%E6%95%88%E6%9E%9C%E5%B1%95%E7%A4%BA">10. &#x6548;&#x679C;&#x5C55;&#x793A;</h3>

<center>
<img src="../assets/solve_rune/final_result.png" width="70%">
<p>&#x56FE;&#x50CF;&#x4E2D;&#xFF0C;&#x7EA2;&#x8272;&#x76F4;&#x7EBF;&#x4E3A;&#x89C2;&#x6D4B;&#x5230;&#x7684;&#x5173;&#x952E;&#x89D2;&#x5EA6;&#xFF0C;&#x7EFF;&#x8272;&#x76F4;&#x7EBF;&#x4E3A;&#x9884;&#x6D4B;&#x540E;&#x7684;&#x5173;&#x952E;&#x89D2;&#x5EA6;</p>
<p>&#x56FE;&#x8868;&#x5C55;&#x793A;&#x4E86;&#x9884;&#x6D4B;&#x7684;&#x6548;&#x679C;&#xFF0C;&#x56FE;&#x6709;&#x70B9;&#x7CCA;&#xFF0C;&#x4F46;&#x52C9;&#x5F3A;&#x53EF;&#x4EE5;&#x770B;&#x51FA;&#x4E24;&#x6761;&#x76F4;&#x7EBF;&#x53EA;&#x6709;&#x4E00;&#x4E2A;&#x76F8;&#x4F4D;&#x7684;&#x5DEE;&#x522B;&#xFF0C;&#x8BF4;&#x660E;&#x62DF;&#x5408;&#x5F97;&#x5F88;&#x51C6;&#x786E;</p>
</center>
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